15 ROS2- Action
cs
ros2 pkg create action_tutorials_interfaces
cd action_tutorials_interfaces
mkdir action
cd action
code Fibonacci.action
int32 order
---
int32[] sequence
---
int32[] partial_sequence
cd ..
code CMakeLists.txt
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"action/Fibonacci.action"
)
code package.xml
<package> element of package.xml ,save and close it:
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<depend>action_msgs</depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<small> Reference : https://docs.ros.org/en/humble/Installation.html </small>
•In the same terminal and run:
cb
sb
ros2 interface show action_tutorials_interfaces/action/Fibonacci
cd ~/
mkdir testAction
cd testAction
code fibonacci_action_server.py
•Copy and paste the code into it, save and close it.
import time
import rclpy
from rclpy.action import ActionServer
from rclpy.node import Node
from action_tutorials_interfaces.action import Fibonacci
class FibonacciActionServer(Node):
def __init__(self):
super().__init__('fibonacci_action_server')
self._action_server = ActionServer(
self,
Fibonacci,
'fibonacci',
self.execute_callback)
def execute_callback(self, goal_handle):
self.get_logger().info('Executing goal...')
feedback_msg = Fibonacci.Feedback()
feedback_msg.partial_sequence = [0]
for i in range(1, goal_handle.request.order):
feedback_msg.partial_sequence.append(i)
self.get_logger().info('Feedback: {0}'.format(feedback_msg.partial_sequence))
goal_handle.publish_feedback(feedback_msg)
time.sleep(1)
goal_handle.succeed()
result = Fibonacci.Result()
result.sequence = feedback_msg.partial_sequence
return result
def main(args=None):
rclpy.init(args=args)
fibonacci_action_server = FibonacciActionServer()
rclpy.spin(fibonacci_action_server)
if __name__ == '__main__':
main()
sudo chmod +x fibonacci_action_server.py
python3 fibonacci_action_server.py
ros2 action send_goal fibonacci action_tutorials_interfaces/action/Fibonacci "{order: 5}"
cd ~/
mkdir testAction
cd testAction
code fibonacci_action_client.py
import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node
from action_tutorials_interfaces.action import Fibonacci
class FibonacciActionClient(Node):
def __init__(self):
super().__init__('fibonacci_action_client')
self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
def send_goal(self, order):
goal_msg = Fibonacci.Goal()
goal_msg.order = order
self._action_client.wait_for_server()
self._send_goal_future = self._action_client.send_goal_async(goal_msg, feedback_callback=self.feedback_callback)
self._send_goal_future.add_done_callback(self.goal_response_callback)
def goal_response_callback(self, future):
goal_handle = future.result()
if not goal_handle.accepted:
self.get_logger().info('Goal rejected :(')
return
self.get_logger().info('Goal accepted :)')
self._get_result_future = goal_handle.get_result_async()
self._get_result_future.add_done_callback(self.get_result_callback)
def get_result_callback(self, future):
result = future.result().result
self.get_logger().info('Result: {0}'.format(result.sequence))
rclpy.shutdown()
def feedback_callback(self, feedback_msg):
feedback = feedback_msg.feedback
self.get_logger().info('Received feedback: {0}'.format(feedback.partial_sequence))
def main(args=None):
rclpy.init(args=args)
action_client = FibonacciActionClient()
action_client.send_goal(10)
rclpy.spin(action_client)
if __name__ == '__main__':
main()
sudo chmod +x fibonacci_action_client.py
python3 fibonacci_action_client.py
Reference : https://docs.ros.org/en/humble/Installation.html